Systems and methods for automated robotic sortation

Abstract

Systems, methods, and computer-readable media are disclosed for automated robotic sortation. In one embodiment, an example system may include a first robotic arm configured to grasp a moving object from a conveyor while the conveyor is in motion, a camera system configured to image objects moving on the conveyor, and a first scanner configured to scan machine-readable codes on objects moving on the conveyor. The system may be configured to sort objects from the conveyor using the first robotic arm based at least in part on an object destination.

That which is claimed is: 
     
       1. A system comprising:
 a first robotic arm configured to grasp a moving object from a conveyor while the conveyor is in motion; 
 a camera system configured to image objects moving on the conveyor; and 
 a controller configured to:
 identify the moving object; 
 determine that the first robotic arm is to pick the moving object; 
 track a location of the moving object on the conveyor using the camera system; 
 cause the first robotic arm to grasp the moving object; 
 determine that a plurality of objects was grasped by the first robotic arm; and 
 cause the first robotic arm to release the plurality of objects. 
 
 
     
     
       2. The system of  claim 1 , wherein the system is configured to sort objects from the conveyor using the first robotic arm based at least in part on an object destination. 
     
     
       3. The system of  claim 1 , wherein the controller is further configured to:
 determine a pick point at which the first robotic arm is to pick the moving object; 
 wherein the controller causes the first robotic arm to grasp the moving object at the pick point. 
 
     
     
       4. The system of  claim 1 , wherein the moving object is at least partially underneath another object. 
     
     
       5. The system of  claim 1 , wherein the controller is further configured to:
 determine that the moving object is unidentifiable; 
 track a location of the moving object on the conveyor using the camera system; 
 cause the first robotic arm to grasp the moving object; 
 determine that the moving object is unidentifiable after the first robotic arm grasps the moving object; and 
 cause the first robotic arm to place the moving object onto an exception handling conveyor. 
 
     
     
       6. The system of  claim 1 , wherein the first robotic arm is disposed adjacent to the conveyor, and wherein the camera system is disposed over the conveyor. 
     
     
       7. The system of  claim 1 , further comprising:
 a first scanner configured to scan machine-readable codes on objects moving on the conveyor. 
 
     
     
       8. The system of  claim 1 , further comprising:
 a second robotic arm positioned adjacent to the conveyor downstream of the first robotic arm; 
 wherein the first robotic arm is configured to pick objects designated for a first destination, and the second robotic arm is configured to pick objects designated for a second destination. 
 
     
     
       9. The system of  claim 1 , further comprising:
 a manual sortation station disposed at or near an end of the conveyor, such that objects not picked by the first robotic arm flow to the manual sortation station. 
 
     
     
       10. A system comprising:
 a first robotic arm configured to grasp a moving object from a conveyor while the conveyor is in motion; 
 a camera system configured to image objects moving on the conveyor; and 
 a controller configured to:
 determine that the moving object is unidentifiable; 
 determine that the first robotic arm is to reposition the moving object; 
 track a location of the moving object on the conveyor using the camera system; 
 cause the first robotic arm to reposition the moving object; 
 determine that a plurality of objects was grasped by the first robotic arm; 
 cause the first robotic arm to release the plurality of objects; and 
 determine that the moving object has an object destination downstream of the first robotic arm, wherein the moving object is permitted to remain on the conveyor. 
 
 
     
     
       11. The system of  claim 10 , wherein the controller is further configured to:
 determine a pick point at which the first robotic arm is to contact the moving object; and 
 cause the first robotic arm to contact the moving object at the pick point. 
 
     
     
       12. The system of  claim 10 , wherein the moving object is at least partially underneath another object. 
     
     
       13. The system of  claim 10 , wherein the controller is further configured to:
 determine that the moving object is unidentifiable after the first robotic arm repositions the moving object; and 
 cause the first robotic arm to place the moving object onto an exception handling conveyor. 
 
     
     
       14. The system of  claim 10 , wherein the first robotic arm is disposed adjacent to the conveyor, and wherein the camera system is disposed over the conveyor. 
     
     
       15. The system of  claim 10 , further comprising:
 a first scanner configured to scan machine-readable codes on objects moving on the conveyor. 
 
     
     
       16. The system of  claim 10 , further comprising:
 a manual sortation station disposed at or near an end of the conveyor, such that objects not picked by the first robotic arm flow to the manual sortation station. 
 
     
     
       17. The system of  claim 10 , further comprising:
 a second robotic arm positioned adjacent to the conveyor downstream of the first robotic arm; 
 wherein the first robotic arm is configured to pick objects designated for a first destination, and the second robotic arm is configured to pick objects designated for a second destination. 
 
     
     
       18. The system of  claim 10 , wherein the controller is further configured to:
 determine that the moving object is unidentifiable after the first robotic arm repositions the moving object; and 
 cause the first robotic arm to reposition the moving object a second time. 
 
     
     
       19. A system comprising:
 a first robotic manipulator configured to grasp a moving object from a conveyor while the conveyor is in motion; 
 a camera system configured to image objects moving on the conveyor; and 
 a controller configured to:
 determine that the moving object is unidentifiable; 
 determine that the first robotic manipulator is to reposition the moving object; 
 track a location of the moving object on the conveyor using the camera system; 
 cause the first robotic manipulator to reposition the moving object; 
 determine that a plurality of objects was grasped by the first robotic manipulator; and 
 cause the first robotic manipulator to release the plurality of objects. 
 
 
     
     
       20. The system of  claim 19 , wherein the robotic manipulator is a robotic arm.